CARRYING MECHANICAL SYSTEM Russian patent published in 2007 - IPC B25J9/00 B25J17/00 

FIELD: robotics, applicable in carrying mechanical systems of manipulators designed for rotation of workpieces in configured spherical trajectories.

SUBSTANCE: the carrying mechanical system has two kinematic turning pairs, the first of which is formed by a table and a platform, and he second one-by a platform and a base, two electric motors and a clamping device. The second kinematic turning pair is provided with two brackets. Both brackets are fastened to its movable links. The brackets are so made that the surface of the table mounted together with the platform on them is positioned below the axis of rotation of the second kinematic pair at its horizontal position. The table rotary drive kinematically linked with the toothed wheel fastened to the table is positioned in one of the brackets. The drive shaft of this mechanism located in the hollow movable link of the second kinematic forming pair is coupled to the electric motor shaft of table turning mounted on the base. The interchangeable clamping device is provided with an adjusting base providing for alignment of the spherical-shaped workpiece axes of symmetry with the axis of rotation of this part.

EFFECT: improved controllability of the table turning drive, simplified hinge suspension of the table relative to the base, reduced quantity of used electric motors.

6 dwg, 2 ex